A novel theory for sampled data system passivity

by S. Stramigioli, C. Secchi, a.J. Van Der Schaft, C. Fantuzzi
IEEE/RSJ International Conference on Intelligent Robots and Systems ()


This paper presents a novel approach to the interconnection of a continuous time and a discrete time physical system. This is done in a way which preserves the passivity of the coupled system independently of the sampling time. A direct application in the field of haptic displays, where a virtual environment should feel like equivalent physical systems, is presented.

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